CN104921651B - Self-moving device and its moving surface defects detection and control method - Google Patents
Self-moving device and its moving surface defects detection and control method Download PDFInfo
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- CN104921651B CN104921651B CN201410097596.1A CN201410097596A CN104921651B CN 104921651 B CN104921651 B CN 104921651B CN 201410097596 A CN201410097596 A CN 201410097596A CN 104921651 B CN104921651 B CN 104921651B
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- self
- moving device
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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Abstract
The present invention provides a kind of self-moving device (B) and its moving surface defects detection and control method, the self-moving device includes body (100), body is provided with control unit, it is additionally provided with moving surface defect detecting device (A), the device includes the detection bar (200) being removably set on self-moving device body, detect and gas channel (230) is provided with inside bar, the bottom for detecting bar is free end, the inside of free end is provided with cavity (220), gas channel and cavity insertion, form a small sucker structure, detect bar and be provided with spring (300), spring is positioned between body and free end；Cavity (220) is connected with one end of vacuum induction device (600) by flexible pipe (800), and vacuum induction device is connected with vacuum extractor (700) by flexible pipe (800)；Vacuum induction device is connected with control unit.Present invention detection simple in construction is sensitive, and either gap, boss or rimless border can detect, and performance is stable and accuracy rate is high.
Description
Technical field
The present invention relates to a kind of self-moving device and its moving surface defects detection and control method, belong to household small electric appliance
Manufacturing technology field.
Background technology
With the appearance of self-moving device such as window wiping robot, this work of wiping window becomes more and more simpler.Existing market
Machine absorption is worked on window by the way of vacuum suction more than the window wiping robot of upper sale, when machine is in rimless glass
On the glass of situations such as glass, apertured glass and low step during walking operation, there is certain potential safety hazard, i.e.,：If
If robot does not have recognition capability to the gap on the border of frame-free glass, glass surface and low step edge, it will do as usual
Pass through from these place walkings, and gas leakage can occur for the sucker for playing suction-operated moment when passing through from these places, cause machine
Device people falls.Accordingly, it would be desirable to set certain testing agency in robot, robot is helped to judge defect and the resistance of walkway surface
Only robot passes through from these places, to avoid the generation fallen.
The content of the invention
The technical problems to be solved by the invention be in view of the shortcomings of the prior art there is provided a kind of self-moving device and its
Moving surface defects detection and control method, detection simple in construction are sensitive, and either gap, boss or rimless border can be examined
Survey, performance is stable and accuracy rate is high.
The technical problem to be solved of the present invention is achieved by the following technical solution：
A kind of self-moving device, including body, the body are provided with control unit, the body and are additionally provided with moving surface
Defect detecting device, the device includes being provided with gas inside the detection bar being removably set on self-moving device body, detection bar
Circulation road, the bottom of detection bar is free end, and the inside of free end is provided with cavity, gas channel and cavity insertion, forms one small
Sucker structure, detection bar is provided with spring, and spring is positioned between body and free end；One end of cavity and vacuum induction device
Connected by flexible pipe, vacuum induction device is connected with vacuum extractor by flexible pipe；The vacuum induction device and control unit
It is connected.
Fix for convenience, the detection bar is fixed by snap on the body of self-moving device.
In order to reduce self-moving device in motion process, rubbing between moving surface defect detecting device and operation surface
Power is wiped, the own end is in billiard table shape.
In order to keep the sealing of cavity and moving surface, the free end of the detection bar and the contact surface on surface to be detected
It is provided with sealing gasket.
In order to which spring is effectively positioned, body is provided with stop section, sky of the spring between stop section and detection bar bottom
It is interior to position.
As needed, the bottom of the body is additionally provided with main sucker, and the moving surface defect detecting device is arranged on certainly
The periphery of the main sucker of mobile device, it is multiple to set quantity.
Specifically, the moving surface defect detecting device is uniformly arranged in the periphery of the main sucker of self-moving device.
In addition to said structure is set, the self-moving device can also include the absorbing unit for being arranged on organism bottom
And walking unit, the walking unit is connected with a driver element；In addition, for the ease of cleaning operation, the self-moving device
Also include rag support, rag mid-stent is provided with perforate, and the body is rotatable to be embedded in the perforate.
Absorbing unit can realize absorption of the body on operation surface, but normal conditions using various mechanism or device
Under, the absorbing unit is sucker, and the sucker is connected to vavuum pump by flexible pipe, and vacuum pump work makes to form negative in sucker
Pressure, makes the self-moving device absorption in operation surface.
Corner for the ease of self-moving device in operation surface rotates, and the rag support is square.
The present invention also provides the moving surface defects detection and control method of a kind of above-mentioned self-moving device, this method bag
Include following steps：
Step 100：Self-moving device is moved in glass surface, and vacuum induction device detects the vacuum of cavity in real time, and
Data message is sent to control unit；
Step 200：Control unit processing data information, judges whether the real-time vacuum of cavity is less than predetermined vacuum degree,
If so, then entering step 300；Otherwise, return to step 100；
Step 300：Control unit control self-moving device is turned to.
In summary, the present invention provides a kind of self-moving device and its moving surface defects detection and control method, structure
Easy detection is sensitive, and either gap, boss or rimless border can detect, and performance is stable and accuracy rate is high.
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is described in detail.
Brief description of the drawings
Fig. 1 is moving surface defect detecting device partial structural diagram of the present invention；
Fig. 2 is position view of the moving surface defect detecting device on self-moving device；
Fig. 3 is the state diagram that surface defect detection apparatus is moved when self-moving device is normally walked；
Fig. 4 is the state diagram that surface defect detection apparatus is moved when self-moving device runs into Rimless border；
Fig. 5 is the state diagram that surface defect detection apparatus is moved when self-moving device runs into moving surface gap；
Fig. 6 is the state diagram that surface defect detection apparatus is moved when self-moving device runs into moving surface boss.
Embodiment
Fig. 1 is moving surface defect detecting device partial structural diagram of the present invention.As shown in figure 1, moving surface defect
Detection means includes detection bar 200, is fixed on by buckle 500 on the body 100 of self-moving device.Detect the inside of bar 200
Provided with gas channel 230, the bottom for detecting bar 200 is that cavity 220 is provided with inside free end, free end, gas channel 230 and sky
The insertion of chamber 220, forms a small sucker structure.Detect bar 200 and be provided with spring 300, such as spring 300 is sheathed on detection bar 200, machine
Body 100 is provided with stop section 110, and spring 300 is positioned in the space between stop section 110 and detection bar bottom.Preferably, side
Just free end is moved in moving surface, and free end is in billiard table shape 210, and the outer surface of billiard table is arc, billiard table 210 and moving surface
The bottom surface being in contact is plane.The contact surface of the free end and surface to be detected that detect bar 200 is provided with sealing gasket 400, namely
The inner side of billiard table 210 is provided with sealing gasket 400, and the gas channel for only retaining center is contacted with moving surface, further ensures empty
The sealing of chamber 220 and moving surface.The cavity 220 of inside and one end of vacuum induction device 600 for detecting bar 200 pass through soft
Pipe 800 connects, and vacuum induction device 600 is connected with vacuum extractor 700 by flexible pipe 800.
Fig. 2 is position view of the moving surface defect detecting device on self-moving device.As shown in Fig. 2 motion table
This small sucker structure setting that planar defect detection means A is formed in the periphery of the main suckers of self-moving device B, small sucker structure
Set quantity not limit, the air pressure of small sucker is detected by vacuum induction device 600, if under the air pressure of the small sucker in which direction
Drop exceed setting atmospheric pressure value, self-moving device just can recognize the direction be danger zone, control self-moving device perform shut down or
Steering etc. acts to avert danger.The specific work process of moving surface defect detecting device is carried out below in conjunction with accompanying drawing detailed
Ground explanation.
With reference to shown in Fig. 2, in addition to said structure is set, the self-moving device can also include being arranged on body bottom
The absorbing unit and walking unit in portion, the walking unit are connected with a driver element.In addition, for the ease of cleaning operation, institute
Stating self-moving device also includes rag support, and rag mid-stent is provided with perforate, and the body is rotatable to be embedded in the perforate
It is interior.Corner for the ease of self-moving device in operation surface rotates, and the rag support is square.The suction of self-moving device
Coupon member can realize absorption of the body on operation surface using various mechanism or device, but under normal circumstances, it is described to inhale
Coupon member is sucker, and the sucker is connected to vavuum pump by flexible pipe（Such as extraction fan, piston vacuum pump etc.）, vacuum pump work
Make to form negative pressure in sucker, make the self-moving device absorption in operation surface.In addition, the walking unit of self-moving device
The need for can also be according to moving surface, micro-move device wheel or crawler belt be set to.
Fig. 3 is the state diagram that surface defect detection apparatus is moved when self-moving device is normally walked.As shown in figure 3, when certainly
When mobile device absorption is on window-glass surface, effect of the billiard table 210 in the elastic force of spring 300 of the bottom of bar 200 is detected
Under, it is adjacent on the surface of glass 1000, is provided with sealing gasket 400 due to detecting the inner side of billiard table 210 of bar 200, can play very well
Sealing effectiveness.Now, vacuum extractor 700 works, by flexible pipe 800 can make closed this all the way pipeline produce it is certain
Negative pressure, vacuum induction device 600 is able to detect that the real-time negative pressure value inside pipeline.It is pre- in the control unit of self-moving device
If a standard negative pressure value, if negative pressure value is more than or equal to standard negative pressure value in real time, show that self-moving device is in normal walking shape
State.
Fig. 4 is the state diagram that surface defect detection apparatus is moved when self-moving device runs into Rimless border.Such as Fig. 4 institutes
Show, when in self-moving device walking to the border of frame-free glass 1000, the billiard table 210 of detection bar 200 reaches glass 1000
Border outside, closed pipeline gas leakage, now, vacuum induction device 600 are able to detect that the change of vacuum, send signal
To control unit, control unit controls self-moving device to perform the action retreated to avoid border immediately, prevents from falling.
Fig. 5 is the state diagram that surface defect detection apparatus is moved when self-moving device runs into moving surface gap.Such as Fig. 5 institutes
Show, when the billiard table 210 for detecting bar 200 runs into the gap on the surface of glass 1000, gas leakage can equally occur for pipeline liquid injecting device, very
Empty induction installation 600 detects the change of vacuum, outputs signal to control unit, while control unit can be controlled from mobile dress
The corresponding action of execution is put to avoid defect.
Fig. 6 is the state diagram that surface defect detection apparatus is moved when self-moving device runs into moving surface boss.Such as Fig. 6 institutes
Show, when self-moving device walking is raised or convex stupefied to the low step side on the surface of glass 1000, detect the billiard table 210 of bar 200
Pipeline liquid injecting device gas leakage will be caused because lifting, vacuum induction device 600 detects the change of vacuum, equally outputed signal to
Control unit, control unit and then can control self-moving device to perform corresponding action to avoid defect.
The present invention also provides the moving surface defects detection and control method of above-mentioned self-moving device, and this method is included such as
Lower step：
Step 100：Self-moving device is moved in glass surface, and vacuum induction device 600 detects the vacuum of cavity in real time,
And data message is sent to control unit；
Step 200：Control unit processing data information, judges whether the real-time vacuum of cavity is less than predetermined vacuum degree,
If so, then entering step 300；Otherwise, return to step 100；
Step 300：Control unit control self-moving device is turned to.
In summary, present invention detection simple in construction is sensitive, and either gap, boss or rimless border can detect, property
Can stable and accuracy rate height.In addition, it is necessary to which explanation, self-moving device of the invention can be that window wiping robot, wall are clear
Clean robot etc., it can be adsorbed in various surfaces to be cleaned by adsorbent equipment, such as metope, inclined plane etc., so as to perform cleaning
Work.
Claims (10)
1. a kind of self-moving device, including body (100), the body are provided with control unit, it is characterised in that on the body
Moving surface defect detecting device (B) is additionally provided with, the device includes the spy being removably set on self-moving device body (100)
Gas channel (230) is provided with inside measuring staff (200), the detection bar, the bottom of detection bar is free end, and the inside of free end is set
There are cavity (220), gas channel and cavity insertion, form a small sucker structure, detection bar is provided with spring (300), and spring exists
Positioned between body and free end；Cavity (220) is connected with one end of vacuum induction device (600) by flexible pipe (800), vacuum
Induction installation is connected with vacuum extractor (700) by flexible pipe (800)；The vacuum induction device is connected with control unit.
2. self-moving device as claimed in claim 1, it is characterised in that the detection bar (200) is fixed by buckle (500)
On the body (100) of self-moving device.
3. self-moving device as claimed in claim 2, it is characterised in that the free end of the detection bar (200) with it is to be detected
The contact surface on surface is provided with sealing gasket (400).
4. self-moving device as claimed in claim 3, it is characterised in that body (100) is provided with stop section (110), spring
(300) positioned in the space between stop section (110) and detection bar bottom.
5. the self-moving device as described in claim any one of 1-4, it is characterised in that the bottom of the body (100) is also set
There is main sucker, the moving surface defect detecting device (B) is arranged on the periphery of the main sucker of self-moving device, and setting quantity is
It is multiple.
6. self-moving device as claimed in claim 5, it is characterised in that the moving surface defect detecting device (B) is certainly
The periphery of the main sucker of mobile device is uniformly arranged.
7. self-moving device as claimed in claim 1, it is characterised in that the self-moving device includes being arranged on organism bottom
Absorbing unit and walking unit, walking unit is connected with driver element；Also include rag support, rag mid-stent is provided with and opened
Hole, the body is rotatable to be embedded in the perforate.
8. self-moving device as claimed in claim 7, it is characterised in that the absorbing unit is sucker, the sucker passes through
Flexible pipe is connected to vavuum pump, and vacuum pump work makes to form negative pressure in sucker, makes the self-moving device absorption in operation surface.
9. self-moving device as claimed in claim 7, it is characterised in that the rag support is square.
10. the moving surface defects detection and control method of a kind of self-moving device as described in claim any one of 1-9,
Characterized in that, this method comprises the following steps：
Step 100：Self-moving device is moved in glass surface, and vacuum induction device (600) detects the vacuum of cavity in real time, and
Data message is sent to control unit；
Step 200：Control unit processing data information, judges whether the real-time vacuum of cavity is less than predetermined vacuum degree, if so,
Then enter step 300；Otherwise, return to step 100；
Step 300：Control unit control self-moving device is turned to.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410097596.1A CN104921651B (en) | 2014-03-17 | 2014-03-17 | Self-moving device and its moving surface defects detection and control method |
| PCT/CN2015/074380 WO2015139608A1 (en) | 2014-03-17 | 2015-03-17 | Self-moving apparatus and movement surface defect detection and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410097596.1A CN104921651B (en) | 2014-03-17 | 2014-03-17 | Self-moving device and its moving surface defects detection and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104921651A CN104921651A (en) | 2015-09-23 |
| CN104921651B true CN104921651B (en) | 2017-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410097596.1A Active CN104921651B (en) | 2014-03-17 | 2014-03-17 | Self-moving device and its moving surface defects detection and control method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104921651B (en) |
| WO (1) | WO2015139608A1 (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI580387B (en) * | 2015-05-27 | 2017-05-01 | 趙志謀 | Robot |
| CN107205594A (en) * | 2015-11-10 | 2017-09-26 | 深圳市赛亿科技开发有限公司 | A kind of absorption affinity dynamic adjusting method of glass-cleaning robot |
| CN105769041B (en) * | 2015-12-15 | 2018-08-24 | 广东宝乐机器人股份有限公司 | The boundary detection method of glass cleaning device |
| CN106923733B (en) * | 2015-12-29 | 2021-01-29 | 科沃斯机器人股份有限公司 | Self-moving adsorption robot |
| CN107865609A (en) * | 2016-09-23 | 2018-04-03 | 青岛海尔模具有限公司 | A kind of window wiping robot of fall-proofing device and the application device |
| CN107917875A (en) * | 2016-10-11 | 2018-04-17 | 青岛海尔模具有限公司 | A kind of window wiping robot of surface detection apparatus and the application device |
| CN107028547B (en) * | 2017-04-28 | 2022-12-27 | 厦门华蔚物联网科技有限公司 | Stably-walking curtain wall robot and control method |
| CN109419458B (en) * | 2017-08-25 | 2024-02-23 | 科沃斯机器人股份有限公司 | Multi-medium intelligent cleaning system and control method thereof |
| JP6670811B2 (en) * | 2017-11-08 | 2020-03-25 | 日立グローバルライフソリューションズ株式会社 | Autonomous traveling vacuum cleaner |
| CN109199207B (en) * | 2018-09-11 | 2021-05-11 | 广东聚晨知识产权代理有限公司 | Movable window cleaning robot |
| CN113622633B (en) * | 2021-08-05 | 2023-05-30 | 浙江国迈建设集团有限公司 | Polyurethane foam material spraying machine capable of avoiding gaps and spraying method thereof |
| CN113520207A (en) * | 2021-08-12 | 2021-10-22 | 同济大学 | Cleaning robot with curtain wall surface detection function and working method |
| CN116649826B (en) * | 2023-07-26 | 2023-10-03 | 科沃斯家用机器人有限公司 | Cleaning apparatus, edge detection device, and edge detection method |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8826482B2 (en) * | 2011-04-29 | 2014-09-09 | Intellectual Discovery Co., Ltd. | Window cleaning apparatus and method for controlling movement thereof |
| TWI434738B (en) * | 2011-08-09 | 2014-04-21 | Chi Mou Chao | Cleaner and path controlling method thereof |
| CN103356122A (en) * | 2012-04-05 | 2013-10-23 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| CN103359197B (en) * | 2012-04-05 | 2015-08-19 | 科沃斯机器人有限公司 | Glass cleaning device and ambulation control method thereof |
| CN202537389U (en) * | 2012-04-05 | 2012-11-21 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| CN102657492A (en) * | 2012-05-01 | 2012-09-12 | 成都理工大学 | Automated glass scrubber |
| CN103505141B (en) * | 2012-06-28 | 2016-08-03 | 科沃斯机器人有限公司 | Glass cleaning device |
| CN203802384U (en) * | 2014-03-17 | 2014-09-03 | 科沃斯机器人科技(苏州)有限公司 | Automatic moving device |
-
2014
- 2014-03-17 CN CN201410097596.1A patent/CN104921651B/en active Active
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2015
- 2015-03-17 WO PCT/CN2015/074380 patent/WO2015139608A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN104921651A (en) | 2015-09-23 |
| WO2015139608A1 (en) | 2015-09-24 |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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